I've found a couple of things

I enabled FSD in a loaner years ago (12.x)

It would not exceed the speed limit. And that did not go well. There are some single-lane roads I drive on that are deserted, but have a few 25/30 zones. People ride your *ss if you go 25 or 30. late at night, that turns into road rage, people want to get home.

I found there was a setting for +<n> over speed limit and I turned it up and things got better. I believe later I was in another loaner and they had added a "go with the flow of traffic" setting (I don't recall the name). That actually went the speed of prevailing traffic and I was more comfortable being driven around.

There are actually lots of studies that show that using "the 85th percentile rule" to set the speed limits gets maximum compliance and much safer roads.

The further you set the speed limit from these speeds, the more speed variance you get and the variance is what causes accidents.

also, there is a psychological component too - I think driving ~5 mph over the speed limit is safer than driving the speed limit or 10 mph over.

people don't like those answers, but they work. Even murderers drive on the right/correct side of the road and drive with the flow of traffic.